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arXiv · 2604.13722

Granularity-Aware Transfer for Tree Instance Segmentation in Synthetic and Real Forests

Pankaj Deoli·Atef Tej·Anmol Ashri·Anandatirtha JS·Karsten Berns
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Abstract

We address the challenge of synthetic-to-real transfer in forestry perception where real data have only coarse Tree labels while synthetic data provide fine-grained trunk/crown annotations. We introduce MGTD, a mixed-granularity dataset with 53k synthetic and 3.6k real images, and a four-stage protocol isolating domain shift and granularity mismatch. Our core contribution is granularity-aware distillation, which transfers structural priors from fine-grained synthetic teachers to a coarse-label student via logit-space merging and mask unification. Experiments show consistent mask AP gains, especially for small/distant trees, establishing a testbed for Sim-Real transfer under label granularity constraints.

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Pankaj Deoli, Atef Tej, Anmol Ashri, Anandatirtha JS, Karsten Berns. 2026-04-15. Granularity-Aware Transfer for Tree Instance Segmentation in Synthetic and Real Forests. https://arxiv.org/abs/2604.13722

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